Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
The purpose of this research is to automate the harvesting of pears and apples on V shaped joint trees using a fruit harvesting robot. For harvesting by the fruit harvesting robot, the position of the harvesting target is first detected three-dimensionally using RGB-D cameras, and the final harvesting position of the end effector is obtained. However, there is a problem that the point cloud obtained by the RGB-D camera becomes very inaccurate in the outdoor environment. Therefore, in this research, we propose an effective detection method of the fruit by using not only the 3D information obtained from the RGB-D camera but also the 2D image and camera information. Furthermore, in this study, we also report a method for determining the ripeness of pears using information on fruit detection.
